CN113093210A

CN113093210A - Code disc device of rotary laser radar

Info

Publication number: CN113093210A
Application number: CN202110501988.XA
Authority: CN
Inventors: 刘崇求; 陈海清; 黄劲; 张大海; 范益群
Original assignee: Jinhua Lanhai Photoelectricity Tech Co Ltd
Current assignee: Jinhua Lanhai Photoelectricity Tech Co Ltd
Priority date: 2021-05-08
Filing date: 2021-05-08
Publication date: 2021-07-09

Abstract

The invention discloses a code disc device of a rotary laser radar, which comprises a rotary engine core component and an optical outer cover, wherein the rotary engine core component is arranged on the rotary engine core component; the annular reflective coded disc is fixed on the inner top wall of the optical outer cover; a plurality of insections are circumferentially and uniformly formed on the lower surface of the annular reflection type coded disc and are provided with starting marks; the reflective code reader plate is fixed at the top of the rotary engine core component and is provided with a code reader facing the insection; the distance measuring mainboard is fixed on the side surface of the rotary engine core component and is electrically connected with the code reader. The annular reflection type code disc is fixed on the optical outer cover, so that the space is reasonably utilized, the optical outer cover is fixed, the angle corresponding to the position of the annular reflection type code disc is fixed, the code reader is arranged at the top of the rotary machine core assembly and rotates together with the laser, the code reader detects the angle position information of the annular reflection type code disc to synchronize the emitting time of the laser, and the problem of unstable angle caused by unstable rotating speed of a motor can be effectively solved.

Description

Code disc device of rotary laser radar

Technical Field

The invention relates to the technical field of laser sensors, in particular to a code disc device of a rotary laser radar.

Background

The applicant applies a utility model patent with the name of optical housing and laser radar sensor, with the patent number of 201820568815.3, in 2018, 4 and 20, and the stability of the rotary machine core is ensured, the precision of distance measurement is improved, and the service life is long by arranging two coaxial positioning bearings above and below the rotary machine core; all parts of the laser ranging module are reasonably fixed on the rotary machine core, so that the number of parts is reduced after integration, the processing and assembly are simplified, the cost is low, and the product volume is reduced; the optical housing can effectively reduce stray light interference.

However, because the current code disc is arranged on the rotary core, but the code reader is arranged on the non-rotary part, the rotating speed of the motor has some errors and variations due to the change of voltage or the influence of vibration in the rotating process, the laser emission frequency of the rotary part is fixed, and when the rotating speed is changed to a certain extent, the laser emission and the angle calculation have errors, so that the angle is unstable, and the angle precision of the laser radar is influenced. If the code reader is placed on the lower part of the rotary movement, the code disc is placed on the lower fixed shell, and the design of miniaturization of the product structure is not facilitated.

Therefore, it is an urgent need to solve the above technical problems by those skilled in the art to provide a device that avoids the problem of unstable angle caused by unstable rotation speed of the motor and has a reasonable structural layout.

Disclosure of Invention

In view of the above, the present invention provides a code wheel device of a rotary laser radar, which aims to solve the above technical problems.

In order to achieve the purpose, the invention adopts the following technical scheme:

a code wheel device of a rotary laser radar comprises a rotary engine core component and an optical outer cover; the method comprises the following steps:

an annular reflective code wheel; the annular reflection type coded disc is fixed on the inner top wall of the optical outer cover and is concentrically arranged with a bearing sleeved at the top end of a rotating shaft of the rotating engine core component; a plurality of insections are circumferentially and uniformly formed on the lower surface of the annular reflection type coded disc and are provided with starting marks;

a reflective code reader plate; the reflective code reader plate is fixed at the top of the rotary engine core component and is provided with a code reader facing the annular reflective code disc insections;

a distance measurement mainboard; the range finding mainboard is fixed the side of rotatory engine element group spare, and with code reader electric connection.

According to the technical scheme, the annular reflection type code disc is fixed on the optical outer cover, the space is reasonably utilized, the optical outer cover is fixed, the angle corresponding to the position of the annular reflection type code disc is fixed, the code reader is arranged at the top of the rotary machine core assembly and rotates together with the laser, the code reader detects the angle position information of the annular reflection type code disc to synchronize the emitting time of the laser, and the problem that the angle is unstable due to unstable rotating speed of the motor can be effectively solved.

Preferably, in the code wheel device of the rotary laser radar, the reflective code reader plate is connected with the rotary engine core assembly through a positioning hole and is bonded and fixed. The connection is simple and the structure is stable.

Preferably, in the above code wheel device for a rotary laser radar, the annular reflective code wheel is connected to the optical housing through a positioning hole and fixed by a hot pressing process. The connection is simple and the structure is stable.

Preferably, in the code wheel device of the rotary laser radar, the optical cover is connected with the bottom of the rotary engine core assembly through screws, and is fixed on the outer side of the optical cover through gluing of a decorative sheet. Simple connection, stable structure and beautiful appearance.

Preferably, in the code wheel device of the rotary laser radar, the number of the insections is 300. The annular reflection type code disc can be provided with more insections to improve the angle resolution, and simultaneously, a software interpolation method can be used for sending pulses with the time equal to the multiple of the pulse of each code disc to improve the angle resolution for further development.

Preferably, in the code wheel device of the rotary laser radar, the pitch of the insections at the starting mark is greater than the pitches of the other insections, and the pitches of the other insections are equal. Easy manufacture and convenient identification.

Preferably, in the code disc device of the rotary laser radar, the code reader is an AEDR-8300 reflective photoelectric encoding disc. Can meet the use requirement.

Preferably, in the above code wheel device of the rotary laser radar, the transmitting lens and the receiving lens are bonded to the side wall of the rotary engine core component through a gluing process. The connection is simple and the structure is stable.

Preferably, in the above code wheel device for a rotary laser radar, the optical housing is of a hollow structure, the side wall of the optical housing is step-shaped, an arc-shaped surface is formed between two adjacent steps, and a fixing boss is arranged in the optical housing and used for fixing the bearing. The structural connection requirement can be met.

Preferably, in the above coded disc device for a rotary laser radar, the annular reflective coded disc is made of a metal material. Compared with an injection molding code disc, the precision of the metal code disc is high, and angle data can be read more accurately.

Compared with the prior art, the code disc device of the rotary laser radar has the following beneficial effects that:

1. the annular reflection type code disc is fixed on the optical outer cover, so that the space is reasonably utilized, the optical outer cover is fixed, the angle corresponding to the position of the annular reflection type code disc is fixed, the code reader is arranged at the top of the rotary machine core assembly and rotates together with the laser, the code reader detects the angle position information of the annular reflection type code disc to synchronize the emitting time of the laser, and the problem of unstable angle caused by unstable rotating speed of a motor can be effectively solved.

2. Compared with an injection molding code disc, the precision of the metal code disc is high, and angle data can be read more accurately.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.

FIG. 1 is a structural sectional view of a code wheel device of a rotary laser radar provided by the invention;

FIG. 2 is a schematic structural diagram of a code wheel device of a rotary laser radar provided by the invention with an optical cover removed;

FIG. 3 is a schematic diagram of the structure of an optical housing provided by the present invention;

FIG. 4 is a schematic structural diagram of an annular reflective code wheel provided by the present invention;

FIG. 5 is an exploded view of a code wheel device of a rotary lidar according to the present invention;

FIG. 6 is a circuit diagram of the connection of the code wheel device and the main control board provided by the invention;

figure 7 is a schematic diagram of the pulses provided by the present invention.

Wherein:

1-rotating the core assembly;

11-a rotating shaft; 12-a bearing; 13-an emission lens; 14-a receiving lens;

2-an optics housing;

21-a screw; 22-decorative sheet;

3-ring reflective code wheel;

31-insection; 32-a start identification;

4-reflective code reader plate;

41-a code reader;

5-distance measurement mainboard.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1 to 5, the embodiment of the invention discloses a code disc device of a rotary laser radar, which comprises a rotary engine core component 1 and an optical outer cover 2; the method comprises the following steps:

an annular reflective code wheel 3; the annular reflective coded disc 3 is fixed on the inner top wall of the optical outer cover 2 and is concentrically arranged with a bearing 12 sleeved at the top end of a rotating shaft 11 of the rotating engine core component 1; a plurality of insections 31 are circumferentially and uniformly formed on the lower surface of the annular reflective coded disc 3, and the insections are provided with starting marks 32;

a reflective code reader plate 4; the reflective code reader plate 4 is fixed on the top of the rotating engine component 1 and is provided with a code reader 41 facing the insection 31;

a distance measurement main board 5; the distance measuring mainboard 5 is fixed on the side surface of the rotating engine core assembly 1 and is electrically connected with the code reader 41.

In order to further optimize the technical scheme, the reflective code reader plate 4 is connected with the rotary engine core assembly 1 through a positioning hole and is fixedly bonded.

In order to further optimize the technical scheme, the annular reflective code wheel 3 is connected with the optical outer cover 2 through a positioning hole and is fixed through a hot pressing process.

In order to further optimize the technical scheme, the optical housing 2 is connected with the bottom of the rotary engine core assembly 1 through a screw 21 and is fixed on the outer side of the optical housing 2 through gluing of a decorative sheet 22.

In order to further optimize the above solution, the number of insections 31 is 300.

In order to further optimize the above technical solution, the pitch of the insections 31 at the starting mark 32 is larger than the pitch of the other insections 31, and the pitches of the other insections 31 are all equal.

In order to further optimize the above technical solution, the code reader 41 is an AEDR-8300 reflective photoelectric encoding disk of high technology in china.

In order to further optimize the above technical solution, the side wall of the rotating core assembly 1 is bonded with an emitting lens 13 and a receiving lens 14 through a gluing process.

In order to further optimize the above technical solution, the optical housing 2 is a hollow structure, the side wall thereof is step-shaped, an arc-shaped surface is formed between two adjacent steps, and a fixing boss is arranged in the optical housing and used for fixing the bearing 12.

In order to further optimize the technical scheme, the annular reflective coded disc 3 is made of metal.

The 3 surface equipartitions of annular reflective code wheel 300 teeth, annular reflective code wheel 3 is coaxial with bearing 12, fixes on optics dustcoat 2, and code reader 41 sets up on rotatory core subassembly 1 through reflective code reader board 4, and when the motor drove rotatory core subassembly 1 rotatory, code reader 41 and motor rotate with fast, export a plurality of pulse signal through code reader circuit subassembly.

Fig. 6 shows a circuit assembly of a code reader, in this embodiment, a main control board electrically connected to the code reader is required to be provided, and the code reader of this embodiment mainly uses the AEDR-8300 reflective optical encoding disc to read information of the annular reflective encoding disc 3 and output a series of pulse diagrams, as shown in fig. 7.

The main control board reads the pulse output by the code reader 41, and the pulse is synchronously emitted by laser through the pulse edge, so that the emission of the laser pulse is ensured to be fixed with the angle position corresponding to the annular reflection type code disc 3, and the angle precision and the stability of the laser radar ranging are ensured.

The annular reflection type code disc 3 can be provided with more lines to improve the angle resolution, and simultaneously, a software interpolation method can be used for sending pulses with the time being equally divided before each pulse of the annular reflection type code disc 3, so that the angle resolution is improved and further expanded and developed.

The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A code wheel device of a rotary laser radar comprises a rotary engine core component (1) and an optical outer cover (2); it is characterized by comprising:

an annular reflective code wheel (3); the annular reflection type coded disc (3) is fixed on the inner top wall of the optical outer cover (2) and is concentrically arranged with a bearing (12) sleeved at the top end of a rotating shaft (11) of the rotating engine core component (1); a plurality of insections (31) are annularly formed on the lower surface of the annular reflective coded disc (3), and the annular reflective coded disc is provided with a starting mark (32);

a reflective code reader plate (4); the reflective code reader plate (4) is fixed on the top of the rotating engine component (1) and is provided with a code reader (41) facing the insection (31);

a distance measurement main board (5); range finding mainboard (5) are fixed the side of rotatory core subassembly (1), and with code reader (41) electric connection.

2. Code wheel arrangement for a rotary lidar according to claim 1, characterized in that the reflective code reader plate (4) is connected to the rotating core assembly (1) by means of positioning holes and is adhesively fixed.

3. The code wheel device of a rotary lidar according to claim 1, wherein the annular reflective code wheel (3) is connected with the optical housing (2) through a positioning hole and fixed through a hot pressing process.

4. A rotary lidar code wheel apparatus according to claim 1, wherein the optical cover (2) is connected with the bottom of the rotary engine core assembly (1) by screws (21) and fixed outside the optical cover (2) by gluing through a decorative sheet (22).

5. Code wheel device of a rotary lidar according to claim 1, characterized in that the number of the insections (31) is 300.

6. A code wheel arrangement for a rotary lidar according to any of claims 1 to 5, wherein the pitch of the insections (31) at the starting marker (32) is larger than the pitch of the other insections (31), and the pitch of the other insections (31) is equal.

7. Code disc arrangement for a rotary lidar according to claim 1, characterized in that the code reader (41) is an AEDR-8300 reflective optoelectric code disc of high tech.

8. Code wheel device for a rotary lidar according to claim 1, characterized in that the side wall of the rotating core assembly (1) is glued with a transmitting lens (13) and a receiving lens (14) by a gluing process.

9. The code wheel device of a rotary laser radar as claimed in claim 1, wherein the optical housing (2) is hollow and has a step-shaped side wall, and an arc-shaped surface is formed between two adjacent steps, and a fixing boss is arranged in the optical housing and used for fixing the bearing (12).

10. Code wheel arrangement of a rotary lidar according to claim 1, characterized in that the annular reflective code wheel (3) is of metal.